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<div class="title">label_tree.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id: $</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * @author Koen Buys</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * @file tree.h</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> * @brief This file contains the function prototypes for the tree building functions.</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_PEOPLE_LABEL_TREE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define PCL_GPU_PEOPLE_LABEL_TREE_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">// our headers</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &quot;pcl/gpu/people/label_blob2.h&quot;</span>   <span class="comment">//this one defines the blob structure</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &quot;pcl/gpu/people/label_common.h&quot;</span>  <span class="comment">//this one defines the LUT&#39;s</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &quot;pcl/gpu/people/person_attribs.h&quot;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// std</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;stdexcept&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">// PCL specific includes</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;pcl/conversions.h&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">namespace </span>people    </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    {           </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1people_1_1_tree2.html">   75</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1people_1_1_tree2.html">Tree2</a> </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="comment">//Inline constructor</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <a class="code" href="structpcl_1_1gpu_1_1people_1_1_tree2.html">Tree2</a>() : id(NO_CHILD), lid(NO_CHILD), nr_parts(0)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;NUM_PARTS;i++)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            parts_lid[i] = NO_CHILD;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;       </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordtype">int</span>     id;                     <span class="comment">// specific identification number of this tree</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        part_t  label;                  <span class="comment">// labels which part the root of this tree is</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordtype">int</span>     lid;                    <span class="comment">// label id, which number of this type of part is this</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keywordtype">int</span>     nr_parts;               <span class="comment">// the number of parts in this tree</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordtype">int</span>     parts_lid[NUM_PARTS];   <span class="comment">// Indicate the used parts</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keywordtype">float</span>   total_dist_error;       <span class="comment">// sum of all distance errors</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordtype">float</span>   norm_dist_error;         <span class="comment">// total_dist_error/nr_parts</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        Eigen::Vector4f  mean;          <span class="comment">// mean in xyz</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        Eigen::Matrix3f  cov;           <span class="comment">// covariance in 3x3 matrix</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        Eigen::Vector3f  eigenval;      <span class="comment">// eigenvalue of blob</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        Eigen::Matrix3f  eigenvect;     <span class="comment">// eigenvector of blob</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> indices;      <span class="comment">// The indices of the pointcloud</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        Eigen::Vector4f   min;          <span class="comment">// The min of the bounding box</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        Eigen::Vector4f   max;          <span class="comment">// The max of the bounding box</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      };</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> std::ostream&amp; operator &lt;&lt; (std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1_tree2.html">Tree2</a>&amp; t)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; Tree2 id &quot;</span> &lt;&lt; t.id &lt;&lt; <span class="stringliteral">&quot; label &quot;</span> &lt;&lt; t.label &lt;&lt; <span class="stringliteral">&quot; lid &quot;</span> &lt;&lt; t.lid &lt;&lt; <span class="stringliteral">&quot; nr_parts &quot;</span> &lt;&lt; t.nr_parts &lt;&lt; std::endl;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; total_dist_error &quot;</span> &lt;&lt; t.total_dist_error &lt;&lt; <span class="stringliteral">&quot; norm_dist_error &quot;</span> &lt;&lt; t.norm_dist_error &lt;&lt; std::endl;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; mean &quot;</span> &lt;&lt; t.mean(0) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.mean(1) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.mean(2) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.mean(3) &lt;&lt; std::endl;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; cov &quot;</span> &lt;&lt; std::endl &lt;&lt; t.cov &lt;&lt; std::endl;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; eigenval &quot;</span> &lt;&lt; t.eigenval(0) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.eigenval(1) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.eigenval(2) &lt;&lt; std::endl;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; eigenvect &quot;</span> &lt;&lt; std::endl &lt;&lt; t.eigenvect &lt;&lt; std::endl;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; min &quot;</span> &lt;&lt; t.min(0) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.min(1) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.min(2) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.min(3) &lt;&lt; std::endl;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; max &quot;</span> &lt;&lt; t.max(0) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.max(1) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.max(2) &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; t.max(3) &lt;&lt; std::endl;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot; indices length &quot;</span> &lt;&lt; t.indices.indices.size() &lt;&lt; std::endl;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">return</span> (os);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      }     </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      leafBlobVector(   std::vector&lt;std::vector&lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp; sorted,</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                            <span class="keywordtype">int</span>                               label )</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordflow">if</span>(sorted[label].size() == 0)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; sorted[label].size(); i++)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j &lt; MAX_CHILD; j++)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            sorted[label][i].child_id[j] = LEAF;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      noChildBlobVector(  std::vector&lt;std::vector&lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp; sorted,</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                              <span class="keywordtype">int</span>                               label,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                              <span class="keywordtype">int</span>                               child_number)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordflow">if</span>(sorted[label].size() == 0)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; sorted[label].size(); i++){</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          sorted[label][i].child_id[child_number] = NO_CHILD;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      hasThisLabelChildren ( std::vector&lt;std::vector&lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp; sorted,</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                                  part_t                            label,</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                                  <span class="keywordtype">int</span>                               child_number)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordflow">if</span>(sorted[label].size() == 0)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; sorted[label].size(); i++)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          <span class="keywordflow">if</span>((sorted[label][i].child_id[child_number] != NO_CHILD) &amp;&amp; (sorted[label][i].child_id[child_number] != LEAF))</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      evaluateBlobs (Blob2&amp; parent, Blob2&amp; child, <span class="keywordtype">int</span> child_nr)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordtype">float</span> root = sqrt(pow(parent.mean(0) - child.mean(0), 2) +</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                          pow(parent.mean(1) - child.mean(1), 2) +</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                          pow(parent.mean(2) - child.mean(2), 2));</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordtype">float</span> offset = fabs(LUT_ideal_length[(<span class="keywordtype">int</span>)parent.label][child_nr] - root);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordflow">if</span>(offset &gt; LUT_max_length_offset[(<span class="keywordtype">int</span>)parent.label][child_nr])</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keywordflow">return</span> -1.0;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordflow">return</span> offset;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      evaluateBlobs (Blob2&amp; parent,</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                     Blob2&amp; child,</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                     <span class="keywordtype">int</span> child_nr,</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                     PersonAttribs::Ptr person_attribs)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordtype">float</span> root = sqrt(pow(parent.mean(0) - child.mean(0), 2) +</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                          pow(parent.mean(1) - child.mean(1), 2) +</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                          pow(parent.mean(2) - child.mean(2), 2));</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordtype">float</span> offset = fabs(person_attribs-&gt;part_ideal_length_[(<span class="keywordtype">int</span>)parent.label][child_nr] - root);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordflow">if</span>(offset &gt; person_attribs-&gt;max_length_offset_[(<span class="keywordtype">int</span>)parent.label][child_nr])</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          <span class="keywordflow">return</span> -1.0;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          <span class="keywordflow">return</span> offset;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      evaluateBlobVector( std::vector&lt;std::vector&lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp; sorted,</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                              <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                      parent_label,</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                              <span class="keywordtype">int</span>                               child_label,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                              <span class="keywordtype">int</span>                               child_number)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="comment">// Check the input data</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        assert(parent_label &lt; NUM_PARTS);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        assert(child_label &gt;= 0);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        assert(child_number &gt;= 0);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        assert(child_number &lt; MAX_CHILD);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="keywordflow">if</span>(sorted[parent_label].size() == 0){</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          <span class="keywordflow">return</span> 0;   <span class="comment">//if my size is 0, this is solved by my parent in his iteration   </span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordflow">if</span>(sorted[child_label].size() == 0){</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          noChildBlobVector(sorted, parent_label, child_number);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <span class="comment">// go over all parents in this vector</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> p = 0; p &lt; sorted[parent_label].size(); p++){</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          <span class="keywordtype">float</span> best_value = std::numeric_limits&lt;float&gt;::max(); </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="keywordtype">int</span> best_child_id = NO_CHILD;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          <span class="keywordtype">int</span> best_child_lid = 0;                               <span class="comment">// this must be as low as possible, still overruled by id</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          <span class="keywordtype">float</span> value = 0.0;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;          <span class="comment">// go over all children in this vector</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> c = 0; c &lt; sorted[child_label].size(); c++){</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            value = evaluateBlobs(sorted[parent_label][p], sorted[child_label][c], child_number);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            <span class="comment">// Value should contain offset from the ideal position</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            <span class="comment">// Is -1 if it goes above threshold</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            <span class="keywordflow">if</span>(value &lt; best_value &amp;&amp; value != -1.0){</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;              best_child_id = sorted[child_label][c].id;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;              best_child_lid = c;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;              best_value = value;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;            }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          assert(parent_label &lt; sorted.size());</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          assert(p &lt; sorted[parent_label].size());</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          assert(child_label &lt; (<span class="keywordtype">int</span>) sorted.size());</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          <span class="comment">//Set the correct child in the parent</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          sorted[parent_label][p].child_id[child_number] = best_child_id;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          sorted[parent_label][p].child_lid[child_number] = best_child_lid;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          sorted[parent_label][p].child_dist[child_number] = best_value;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          sorted[parent_label][p].child_label[child_number] = child_label;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      evaluateBlobVector( std::vector&lt;std::vector&lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp; sorted,</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                              <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                      parent_label,</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                              <span class="keywordtype">int</span>                               child_label,</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                              <span class="keywordtype">int</span>                               child_number,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                              PersonAttribs::Ptr                person_attribs)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <span class="comment">// Check the input data</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        assert(parent_label &lt; NUM_PARTS);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        assert(child_label &gt;= 0);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        assert(child_number &gt;= 0);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        assert(child_number &lt; MAX_CHILD);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        <span class="keywordflow">if</span>(sorted[parent_label].size() == 0){</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;          <span class="keywordflow">return</span> 0;   <span class="comment">//if my size is 0, this is solved by my parent in his iteration</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        }</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="keywordflow">if</span>(sorted[child_label].size() == 0){</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          noChildBlobVector(sorted, parent_label, child_number);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="comment">// go over all parents in this vector</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> p = 0; p &lt; sorted[parent_label].size(); p++){</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;          <span class="keywordtype">float</span> best_value = std::numeric_limits&lt;float&gt;::max();</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          <span class="keywordtype">int</span> best_child_id = NO_CHILD;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          <span class="keywordtype">int</span> best_child_lid = 0;                               <span class="comment">// this must be as low as possible, still overruled by id</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          <span class="keywordtype">float</span> value = 0.0;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          <span class="comment">// go over all children in this vector</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> c = 0; c &lt; sorted[child_label].size(); c++){</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            value = evaluateBlobs(sorted[parent_label][p], sorted[child_label][c], child_number, person_attribs);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            <span class="comment">// Value should contain offset from the ideal position</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;            <span class="comment">// Is -1 if it goes above threshold</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;            <span class="keywordflow">if</span>(value &lt; best_value &amp;&amp; value != -1.0){</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;              best_child_id = sorted[child_label][c].id;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;              best_child_lid = c;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;              best_value = value;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;            }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;          }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;          assert(parent_label &lt; sorted.size());</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;          assert(p &lt; sorted[parent_label].size());</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;          assert(child_label &lt; (<span class="keywordtype">int</span>) sorted.size());</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;          <span class="comment">//Set the correct child in the parent</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;          sorted[parent_label][p].child_id[child_number] = best_child_id;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          sorted[parent_label][p].child_lid[child_number] = best_child_lid;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;          sorted[parent_label][p].child_dist[child_number] = best_value;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;          sorted[parent_label][p].child_label[child_number] = child_label;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      }</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      buildRelations( std::vector&lt;std::vector&lt;Blob2, Eigen::aligned_allocator&lt;pcl::gpu::people::Blob2&gt; &gt; &gt;&amp; sorted)</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      {</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        PCL_VERBOSE(<span class="stringliteral">&quot;[pcl::gpu::people::buildRelations] : (I) : buildRelations : regular version\n&quot;</span>);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        <span class="keywordflow">if</span>(sorted.size() == 0){</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;(E) : Damn you, you gave me an empty matrix!&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;          <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="comment">// Iterate over all parts</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> p = 0; p &lt; sorted.size(); p ++)</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        {</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;          <span class="keywordflow">switch</span>(p){</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;            <span class="comment">// These are multinodes and end nodes ///</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;            <span class="keywordflow">case</span> Neck:</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;              evaluateBlobVector(sorted, p, FaceRB, 0);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;              evaluateBlobVector(sorted, p, FaceLB, 1);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;              evaluateBlobVector(sorted, p, Rchest, 2);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;              evaluateBlobVector(sorted, p, Lchest, 3);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            <span class="keywordflow">case</span> 0:                                 <span class="comment">// this is the Lfoot</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;            <span class="keywordflow">case</span> 4:                                 <span class="comment">// this is the Rfoot</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;            <span class="keywordflow">case</span> 14:                                <span class="comment">// this is the Rhand</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;            <span class="keywordflow">case</span> 18:                                <span class="comment">// this is the Lhand</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;            <span class="keywordflow">case</span> 21:                                <span class="comment">// this is the FaceLT</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;            <span class="keywordflow">case</span> 22:                                <span class="comment">// this is the FaceRT</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;              leafBlobVector(sorted, p);            <span class="comment">//fill in the children of leafs</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;              <span class="keywordflow">break</span>; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;            <span class="keywordflow">case</span> 23:                    <span class="comment">// this is the Rchest</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;              evaluateBlobVector(sorted, p, 11, 0); <span class="comment">//Child 0 is Rarm</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;              evaluateBlobVector(sorted, p, 8, 1);  <span class="comment">//Child 1 is Rhips</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;            <span class="keywordflow">case</span> 24:                    <span class="comment">// this is the Lchest</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;              evaluateBlobVector(sorted, p, 15, 0); <span class="comment">//Child 0 is Larm</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;              evaluateBlobVector(sorted, p, 9, 1);  <span class="comment">//Child 1 is Lhips</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;              <span class="keywordflow">break</span>; </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;            <span class="comment">// FROM HERE ALL THE REGULAR MIDDLE NODES  ///</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;            <span class="keywordflow">case</span> 1:                               <span class="comment">//this is the Lleg</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;              evaluateBlobVector(sorted,p, 0, 0); <span class="comment">//Child 0 is Lfeet</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;            <span class="keywordflow">case</span> 2:                               <span class="comment">//this is the Lknee</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;              evaluateBlobVector(sorted,p, 1, 0); <span class="comment">//Child 0 is Lleg</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            <span class="keywordflow">case</span> 3:                               <span class="comment">//this is the Lthigh</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;              evaluateBlobVector(sorted,p, 2, 0); <span class="comment">//Child 0 is Lknee</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;            <span class="keywordflow">case</span> 5:                               <span class="comment">//this is the Rleg</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;              evaluateBlobVector(sorted,p, 4, 0); <span class="comment">//Child Rfoot</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;            <span class="keywordflow">case</span> 6:                               <span class="comment">//this is the Rknee</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;              evaluateBlobVector(sorted,p, 5, 0); <span class="comment">//Child Rleg</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;            <span class="keywordflow">case</span> 7:                               <span class="comment">//this is the Rthigh</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;              evaluateBlobVector(sorted,p, 6, 0); <span class="comment">//Child Rknee</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;            <span class="keywordflow">case</span> 8:                               <span class="comment">//this is the Rhips</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;              evaluateBlobVector(sorted,p, 7, 0); <span class="comment">//Child Rthigh</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;            <span class="keywordflow">case</span> 9:                               <span class="comment">//this is the Lhips</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;              evaluateBlobVector(sorted,p, 3, 0); <span class="comment">//Child Lthigh</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;            <span class="keywordflow">case</span> Rarm:</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;              evaluateBlobVector(sorted,p, Relbow, 0);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;              <span class="keywordflow">if</span>(!hasThisLabelChildren(sorted, Rarm, 0))</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;                evaluateBlobVector(sorted,p, Rforearm, 0);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;            <span class="keywordflow">case</span> 12:                               <span class="comment">//this is the Relbow</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;              evaluateBlobVector(sorted,p, 13, 0); <span class="comment">//Child Rforearm</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;            <span class="keywordflow">case</span> 13:                               <span class="comment">//this is the Rforearm</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;              evaluateBlobVector(sorted,p, 14, 0); <span class="comment">//Child Rhand</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;            <span class="keywordflow">case</span> Larm:</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;              evaluateBlobVector(sorted,p, Lelbow, 0);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;              <span class="keywordflow">if</span>(!hasThisLabelChildren(sorted, Larm, 0))</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;                evaluateBlobVector(sorted,p, Lforearm, 0);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;            <span class="keywordflow">case</span> 16:                               <span class="comment">//this is the Lelbow</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;              evaluateBlobVector(sorted,p, 17, 0); <span class="comment">//Child Lforearm</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;            <span class="keywordflow">case</span> 17:                               <span class="comment">//this is the Lforearm</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;              evaluateBlobVector(sorted,p, 18, 0); <span class="comment">//Child Lhand</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;            <span class="keywordflow">case</span> 19:                               <span class="comment">//this is the FaceLB</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;              evaluateBlobVector(sorted,p, 21, 0); <span class="comment">//Child FaceLT</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;            <span class="keywordflow">case</span> 20:                               <span class="comment">//this is the FaceRB</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;              evaluateBlobVector(sorted,p, 22, 0); <span class="comment">//Child FaceRT</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;            <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keywordflow">return</span> 0;   </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      }</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      buildRelations( std::vector&lt;std::vector&lt;Blob2, Eigen::aligned_allocator&lt;pcl::gpu::people::Blob2&gt; &gt; &gt;&amp; sorted,</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;                      PersonAttribs::Ptr person_attribs)</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      {</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        PCL_DEBUG(<span class="stringliteral">&quot;[pcl::gpu::people::buildRelations] : (D) : person specific version\n&quot;</span>);</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="keywordflow">if</span>(sorted.size() == 0){</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          PCL_ERROR(<span class="stringliteral">&quot;[pcl::gpu::people::buildRelations] : (E) : Damn you, you gave me an empty matrix!\n&quot;</span>);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;          <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        }</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        <span class="comment">// Iterate over all parts</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> p = 0; p &lt; sorted.size(); p ++)</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        {</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;          <span class="keywordflow">switch</span>(p){</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;            <span class="comment">// These are multinodes and end nodes ///</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;            <span class="keywordflow">case</span> Neck:</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;              evaluateBlobVector(sorted, p, FaceRB, 0, person_attribs);</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;              evaluateBlobVector(sorted, p, FaceLB, 1, person_attribs);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;              evaluateBlobVector(sorted, p, Rchest, 2, person_attribs);</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;              evaluateBlobVector(sorted, p, Lchest, 3, person_attribs);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;            <span class="keywordflow">case</span> 0:                                 <span class="comment">// this is the Lfoot</span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;            <span class="keywordflow">case</span> 4:                                 <span class="comment">// this is the Rfoot</span></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;            <span class="keywordflow">case</span> 14:                                <span class="comment">// this is the Rhand</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;            <span class="keywordflow">case</span> 18:                                <span class="comment">// this is the Lhand</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;            <span class="keywordflow">case</span> 21:                                <span class="comment">// this is the FaceLT</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;            <span class="keywordflow">case</span> 22:                                <span class="comment">// this is the FaceRT</span></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;              leafBlobVector(sorted, p);            <span class="comment">//fill in the children of leafs</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;            <span class="keywordflow">case</span> 23:          <span class="comment">// this is the Rchest</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;              evaluateBlobVector(sorted, p, 11, 0, person_attribs); <span class="comment">//Child 0 is Rarm</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;              evaluateBlobVector(sorted, p, 8, 1, person_attribs);  <span class="comment">//Child 1 is Rhips</span></div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            <span class="keywordflow">case</span> 24:          <span class="comment">// this is the Lchest</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;              evaluateBlobVector(sorted, p, 15, 0, person_attribs); <span class="comment">//Child 0 is Larm</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;              evaluateBlobVector(sorted, p, 9, 1, person_attribs);  <span class="comment">//Child 1 is Lhips</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            <span class="comment">// FROM HERE ALL THE REGULAR MIDDLE NODES  ///</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;            <span class="keywordflow">case</span> 1:                               <span class="comment">//this is the Lleg</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;              evaluateBlobVector(sorted,p, 0, 0, person_attribs); <span class="comment">//Child 0 is Lfeet</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;            <span class="keywordflow">case</span> 2:                               <span class="comment">//this is the Lknee</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;              evaluateBlobVector(sorted,p, 1, 0, person_attribs); <span class="comment">//Child 0 is Lleg</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;            <span class="keywordflow">case</span> 3:                               <span class="comment">//this is the Lthigh</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;              evaluateBlobVector(sorted,p, 2, 0, person_attribs); <span class="comment">//Child 0 is Lknee</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            <span class="keywordflow">case</span> 5:                               <span class="comment">//this is the Rleg</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;              evaluateBlobVector(sorted,p, 4, 0, person_attribs); <span class="comment">//Child Rfoot</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;            <span class="keywordflow">case</span> 6:                               <span class="comment">//this is the Rknee</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;              evaluateBlobVector(sorted,p, 5, 0, person_attribs); <span class="comment">//Child Rleg</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;            <span class="keywordflow">case</span> 7:                               <span class="comment">//this is the Rthigh</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;              evaluateBlobVector(sorted,p, 6, 0, person_attribs); <span class="comment">//Child Rknee</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            <span class="keywordflow">case</span> 8:                               <span class="comment">//this is the Rhips</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;              evaluateBlobVector(sorted,p, 7, 0, person_attribs); <span class="comment">//Child Rthigh</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            <span class="keywordflow">case</span> 9:                               <span class="comment">//this is the Lhips</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;              evaluateBlobVector(sorted,p, 3, 0, person_attribs); <span class="comment">//Child Lthigh</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;            <span class="keywordflow">case</span> Rarm:</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;              evaluateBlobVector(sorted,p, Relbow, 0, person_attribs);</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;              <span class="keywordflow">if</span>(!hasThisLabelChildren(sorted, Rarm, 0))</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;                evaluateBlobVector(sorted,p, Rforearm, 0, person_attribs);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;            <span class="keywordflow">case</span> 12:                               <span class="comment">//this is the Relbow</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;              evaluateBlobVector(sorted,p, 13, 0, person_attribs); <span class="comment">//Child Rforearm</span></div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;            <span class="keywordflow">case</span> 13:                               <span class="comment">//this is the Rforearm</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;              evaluateBlobVector(sorted,p, 14, 0, person_attribs); <span class="comment">//Child Rhand</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;            <span class="keywordflow">case</span> Larm:</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;              evaluateBlobVector(sorted,p, Lelbow, 0, person_attribs);</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;              <span class="keywordflow">if</span>(!hasThisLabelChildren(sorted, Larm, 0))</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;                evaluateBlobVector(sorted,p, Lforearm, 0, person_attribs);</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;            <span class="keywordflow">case</span> 16:                               <span class="comment">//this is the Lelbow</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;              evaluateBlobVector(sorted,p, 17, 0, person_attribs); <span class="comment">//Child Lforearm</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;            <span class="keywordflow">case</span> 17:                               <span class="comment">//this is the Lforearm</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;              evaluateBlobVector(sorted,p, 18, 0, person_attribs); <span class="comment">//Child Lhand</span></div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;            <span class="keywordflow">case</span> 19:                               <span class="comment">//this is the FaceLB</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;              evaluateBlobVector(sorted,p, 21, 0, person_attribs); <span class="comment">//Child FaceLT</span></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;            <span class="keywordflow">case</span> 20:                               <span class="comment">//this is the FaceRB</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;              evaluateBlobVector(sorted,p, 22, 0, person_attribs); <span class="comment">//Child FaceRT</span></div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;            <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;          }</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        }</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      }</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> browseTree (<span class="keyword">const</span> std::vector&lt;std::vector &lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp;  sorted,</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;                             Tree2&amp; tree,</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;                             <span class="keywordtype">int</span> part_label,</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;                             <span class="keywordtype">int</span> part_lid)</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      {</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        <span class="keywordtype">int</span> nr_children = LUT_nr_children[part_label];</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;        tree.nr_parts++;</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        tree.parts_lid[part_label] = part_lid;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160; </div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keyword">const</span> Blob2&amp; blob = sorted[part_label][part_lid];</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160; </div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;        <span class="comment">// iterate over the number of pixels that are part of this label</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices = blob.indices.indices;</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        tree.indices.indices.insert(tree.indices.indices.end(), indices.begin(), indices.end());</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; </div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        <span class="keywordflow">if</span>(nr_children == 0)</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        <span class="comment">// iterate over all possible children</span></div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; nr_children; i++)</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        {</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;          <span class="comment">// check if this child has a valid child_id, leaf test should be redundant</span></div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;          <span class="keywordflow">if</span>(blob.child_id[i] != NO_CHILD &amp;&amp; blob.child_id[i] != LEAF)</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;          {</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;            tree.total_dist_error += blob.child_dist[i];</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;            browseTree( sorted, tree, blob.child_label[i], blob.child_lid[i]);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;          }</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        }</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      }</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160; </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> browseTree (<span class="keyword">const</span> std::vector&lt;std::vector &lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp;  sorted,</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;                             Tree2&amp;             tree,</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;                             <span class="keywordtype">int</span>                part_label,</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;                             <span class="keywordtype">int</span>                part_lid,</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;                             PersonAttribs::Ptr person_attribs)</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      {</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;        <span class="keywordtype">int</span> nr_children = person_attribs-&gt;nr_of_children_[part_label];</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;        tree.nr_parts++;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;        tree.parts_lid[part_label] = part_lid;</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;        <span class="keyword">const</span> Blob2&amp; blob = sorted[part_label][part_lid];</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160; </div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;        <span class="comment">// iterate over the number of pixels that are part of this label</span></div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;        <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices = blob.indices.indices;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;        tree.indices.indices.insert(tree.indices.indices.end(), indices.begin(), indices.end());</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;        </div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;        <span class="keywordflow">if</span>(nr_children == 0)</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;        <span class="comment">// iterate over all possible children</span></div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; nr_children; i++)</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;        {</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;          <span class="comment">// check if this child has a valid child_id, leaf test should be redundant</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;          <span class="keywordflow">if</span>(blob.child_id[i] != NO_CHILD &amp;&amp; blob.child_id[i] != LEAF)</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;          {</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;            tree.total_dist_error += blob.child_dist[i];</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;            browseTree( sorted, tree, blob.child_label[i], blob.child_lid[i]);</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;          }</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;        }</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;      }</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160; </div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> buildTree ( <span class="keyword">const</span> std::vector&lt;std::vector &lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp;  sorted,</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a>&amp;  cloud_in,</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;                             part_t                                 part_label,</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;                             <span class="keywordtype">int</span>                                    part_lid,</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;                             Tree2&amp;                                 tree)</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      {</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;        <span class="keywordflow">if</span>(sorted.size() &lt;= 0)</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;        {</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;(E) : buildTree(): hey man, don&#39;t fool me, you gave me an empty blob matrix&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;          <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;        }</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;        tree.label = part_label;</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;        tree.lid = part_lid;</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;        tree.total_dist_error = 0;</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;        tree.nr_parts = 0;</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160; </div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;        browseTree(sorted, tree, part_label, part_lid);</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160; </div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;        <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a>(cloud_in, tree.indices, tree.min, tree.max);</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;        <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a>(cloud_in, tree.indices, tree.mean);</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;        <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a>(cloud_in, tree.indices, tree.mean, tree.cov);</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;        <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a>(tree.cov, tree.eigenvect, tree.eigenval);</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160; </div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        tree.norm_dist_error = tree.total_dist_error/tree.nr_parts;</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160; </div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;      }</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160; </div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> buildTree ( <span class="keyword">const</span> std::vector&lt;std::vector &lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt;&amp;  sorted,</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a>&amp;  cloud_in,</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;                             part_t                                 part_label,</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;                             <span class="keywordtype">int</span>                                    part_lid,</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;                             Tree2&amp;                                 tree,</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;                             PersonAttribs::Ptr                     person_attribs)</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      {</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;        <span class="keywordflow">if</span>(sorted.size() &lt;= 0)</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;        {</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;(E) : buildTree(): hey man, don&#39;t fool me, you gave me an empty blob matrix&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;          <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;        }</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        tree.label = part_label;</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;        tree.lid = part_lid;</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;        tree.total_dist_error = 0;</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;        tree.nr_parts = 0;</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160; </div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;        browseTree(sorted, tree, part_label, part_lid, person_attribs);</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160; </div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;        <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a>(cloud_in, tree.indices, tree.min, tree.max);</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;        <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a>(cloud_in, tree.indices, tree.mean);</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;        <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a>(cloud_in, tree.indices, tree.mean, tree.cov);</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160; </div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;        <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a>(tree.cov, tree.eigenvect, tree.eigenval);</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160; </div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;        tree.norm_dist_error = tree.total_dist_error/tree.nr_parts;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160; </div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;      }</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160; </div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    } <span class="comment">//end namespace people</span></div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;  } <span class="comment">// end namespace gpu</span></div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;} <span class="comment">// end namespace pcl</span></div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
<div class="ttc" id="agroup__common_html_gab5ea605f439a80daf6348547379bad8e"><div class="ttname"><a href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a></div><div class="ttdeci">unsigned int computeCovarianceMatrixNormalized(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix)</div><div class="ttdoc">Compute normalized the 3x3 covariance matrix of a given set of points. The result is returned as a Ei...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:251</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1people_1_1_tree2_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1people_1_1_tree2.html">pcl::gpu::people::Tree2</a></div><div class="ttdoc">This structure containts all parameters to describe the segmented tree</div><div class="ttdef"><b>Definition:</b> label_tree.h:76</div></div>
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